Fault tolerant control of multivariable processes using auto-tuning PID controller.

Ding-Li Yu Thoonkhin Chang Ding-Wen Yu Fault tolerant control of multivariable processes using auto-tuning PID controller. 32-43 2005 35 IEEE Transactions on Systems, Man, and Cybernetics, Part B 1 http://dx.doi.org/10.1109/TSMCB.2004.839247 db/journals/tsmc/tsmcb35.html#YuCY05